XLeRobot
A two-armed home robot built on a $40 IKEA cart.
- Cost
- from ~US$660README, printing not included
- Difficulty
- 3/5
- Build time
- Under 4 hours of assembly (after printing)
- Skills
- 3D printing · Python · Ubuntu
Made by Vector Wang · License Apache-2.0
The files are hosted by the maker. We never re-upload them.
What it is
Two SO-101 arms, a camera head and an omni-wheel base, all mounted on an IKEA utility cart. You drive it with a Switch Joy-Con or a keyboard, and you can train it with LeRobot. The maker runs it as a non-profit project.
How it works
- 17 STS3215 motors: 12 in the two arms, 3 driving the wheels, 2 moving the head.
- Three omni wheels let the base drive in any direction, even sideways.
- Three cameras: one in each hand and one in the head.
- A 288 Wh power station runs it for about ten hours. Your laptop does the thinking over Wi-Fi.
What you need
- IKEA RÅSKOG cart
- 17× STS3215 servos and 3 omni wheels
- Cameras, a power station and printed parts
- A laptop (a Raspberry Pi is optional)
Parts we use
- ServosFeetech STS3215 serial bus servo, 12 V (30 kg·cm)Waveshare ★Amazon ★
- ServosSO-ARM100/101 arm kit (servos + printed parts)Waveshare ★
- Controller boardsSerial bus servo adapter board (USB to ST/SC servos)Waveshare ★Amazon ★
- SBC/computeRaspberry Pi 5Waveshare ★Amazon ★
- Sensors & cameras1080p USB camera, 130° wide angle (wrist/hand cam)Waveshare ★Amazon ★
- Servos5264 3-pin servo cablesWaveshare ★
- SBC/computemicroSD card 64 GB (SanDisk Extreme)Amazon ★
- Sensors & camerasLogitech C920 webcamAmazon ★
- Sensors & camerasIntel RealSense depth camera (D435i)Amazon ★
- Power12 V 5 A DC power supplyAmazon ★
- PowerAnker SOLIX C300X DC power station (288 Wh)Amazon ★
- PowerUSB-A to USB-C cable (2-pack)Amazon ★
- Motors/drivers100 mm (4") omni wheelAmazon ★
- Hardware/toolsM2/M3 socket screw assortmentAmazon ★
- Hardware/toolsPrecision screwdriver setAmazon ★
- Hardware/toolsQuick-grip table clamps (4-pack)Amazon ★
- Hardware/toolsFlush cutters (Knipex Super Knips)Amazon ★
- 3D printingPLA filament 1.75 mm (Bambu Lab PLA Basic)Amazon ★
- 3D printingPLA filament 1.75 mm (Polymaker PolyLite PLA Pro)Amazon ★
★ = affiliate link. If you buy through it, we may earn a small commission at no extra cost to you. As an Amazon Associate we earn from qualifying purchases. Check the maker's bill of materials for exact quantities; prices change.
Is it for me?
Medium. The build is simple, but you should be comfortable with Python and Linux. Building one SO-101 arm first is a smart warm-up.
Official links
Summary written by us in plain words. Not affiliated with or endorsed by Vector Wang. Prices and links last checked Nov 3, 2026. Are you the maker and want something changed? Email us.